From debd0d599fd09433dee7fb835b4c445bcd80fe12 Mon Sep 17 00:00:00 2001 From: t4-adc Date: Sat, 24 Feb 2024 16:06:06 +0000 Subject: [PATCH] hoge Signed-off-by: t4-adc --- .../config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml | 2 +- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- .../system/emergency_handler/emergency_handler.param.yaml | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 54c87f45b6..cc7377ec81 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -2,7 +2,7 @@ ros__parameters: update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 - use_emergency_handling: false + use_emergency_handling: true check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat) use_start_request: false enable_cmd_limit_filter: true diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 69328a9b79..674b3e07e7 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -100,7 +100,7 @@ launch: - arg: name: motion_stop_planner_type - default: obstacle_stop_planner + default: obstacle_cruise_planner # option: obstacle_stop_planner # obstacle_cruise_planner # none diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 2ff87e9b01..f922148089 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -12,7 +12,7 @@ idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s] min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] - safe_distance_margin : 6.0 # This is also used as a stop margin [m] + safe_distance_margin : 5.0 # This is also used as a stop margin [m] terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml index 652a984ce5..d064f2a2dd 100644 --- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml +++ b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml @@ -7,7 +7,7 @@ timeout_takeover_request: 10.0 use_takeover_request: false use_parking_after_stopped: false - use_comfortable_stop: false + use_comfortable_stop: true # setting whether to turn hazard lamp on for each situation turning_hazard_on: